Dynamic VINS

依赖

• CMake >=3.12 这是为了兼容torch-vision的编译
• gcc >= 9, 为了使用C++17的新特性。注意在安装cuda、tensorrt的时候，需要低版本(比如gcc7)来编译安装。
• CUDA10.2
• cudnn>=8
• TensorRT = 8.0.1.6
• Eigen>=3.3
• opencv3.4.16 with cuda
• spdlog
• ceres1.14.0
• pcl-1.8.1
• Sophus
• Libtorch1.8 + TorchVision0.9.1

Install

clone project:

mkdir dynamic_ws/src
cd dynamic_ws/src

git clone https://github.com/chenjianqu/dynamic_vins.git

build line_descriptor:

cd ./dynamic_vins/src/thirdparty/line_descriptor
mkdir build && cd build
cmake ..
make

note: if you changed OpenCV version, please recompile the line_descriptor.

build dynamic_vins from github:

cd ..

catkin_make -j4

​ Then set project path:

echo "dynamic_vins_root=/home/chen/ws/dynamic_ws" >> ~/.bashrc

source ~/.bashrc

Features

Support datasets

• Kitti tracking

• VIODE

• EuRoC

• Custom dataset

see custom_dataset

Support mode

sensor mode:

• Vison-only
• VIO

line-point mode:

• PointOnly
• LinePoint

dynamic mode:

• raw
• naive
• dynamic

Demo

• launch ros core

roscore

• launch rviz

rosrun rviz rviz -d ${dynamic_vins_root}/src/dynamic_vins/config/rviz/rviz.rviz

• launch dynamic_vins

#config_file=${dynamic_vins_root}/src/dynamic_vins/config/viode/viode.yaml 

#config_file=${dynamic_vins_root}/src/dynamic_vins/config/kitti/kitti_09_30/kitti_09_30_config.yaml 
#config_file=${dynamic_vins_root}/src/dynamic_vins/config/kitti/kitti_10_03/kitti_10_03_config.yaml
#config_file=/home/chen/ws/dynamic_ws/src/dynamic_vins/config/kitti/kitti_tracking/kitti_tracking.yaml
#config_file=/home/chen/ws/dynamic_ws/src/dynamic_vins/config/kitti/kitti_tracking/kitti_tracking_raw_line.yaml

#config_file=/home/chen/ws/dynamic_ws/src/dynamic_vins/config/euroc/euroc.yaml

#config_file=/home/chen/ws/dynamic_ws/src/dynamic_vins/config/custom/stereo_1920x1080/custom.yaml

#config_file=${dynamic_vins_root}/src/dynamic_vins/config/custom/zed_1280x720_vision_only/custom.yaml
config_file=${dynamic_vins_root}/src/dynamic_vins/config/custom/zed_1280x720_vision_only/dynamic.yaml

#config_file=${dynamic_vins_root}/src/dynamic_vins/config/custom/zed_1280x720/custom.yaml

#config_file=${dynamic_vins_root}/src/dynamic_vins/config/custom/mynteye/custom.yaml
#config_file=${dynamic_vins_root}/src/dynamic_vins/config/custom/mynteye_vision_only/custom.yaml
 
source  ${dynamic_vins_root}/devel/setup.bash
rosrun dynamic_vins dynamic_vins ${config_file} road_2

• play dataset

#viode
rosbag play /home/chen/datasets/VIODE/bag/city_night/0_none.bag

#custom
rosbag play corridor_dynamic_1/data.bag -r 0.5

• Shutdown DynamicVINS with ROS

rostopic pub -1 /vins_terminal std_msgs/Bool -- '1'

Visualization

see visualization.md .

Evaluation

see evaluate.md .